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There is a problem with the maps inside LGSVL when OpenPlanner try to create the network for planning. OpenPlanner has two parser (ver 1 and ver2). it decide which version to use depending on the existence or absence of data.
In short, OpenPlanner load LGSVL vector maps with version 2 but it should be loaded with version 1.
This problem exists in each node that loads the map to OpenPlanner.
op_global_planner https://gitlab.com/autowarefoundation/autoware.ai/core_planning/-/blob/master/op_global_planner/nodes/op_global_planner_core.cpp op_local_planner: op_trajectory_selector, op_motion_predictor https://gitlab.com/autowarefoundation/autoware.ai/core_planning/-/blob/master/op_local_planner/nodes/op_motion_predictor/op_motion_predictor_core.cpp https://gitlab.com/autowarefoundation/autoware.ai/core_planning/-/blob/master/op_local_planner/nodes/op_behavior_selector/op_behavior_selector_core.cpp kf_contour_tracker: https://gitlab.com/autowarefoundation/autoware.ai/core_perception/-/blob/master/lidar_kf_contour_track/nodes/lidar_kf_contour_track/lidar_kf_contour_track_core.cpp
Solution:
look for this line: if(m_MapRaw.GetVersion()==2) if(m_MapRaw.GetVersion()==1) change 2->1 change 1->2 This will work only with some maps which they have this problems.
Hope that will be enough.
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